CN102102625A - System and method for controlling a machine - Google Patents

Abstract

A system for controlling a machine includes a first controller, a second controller and a comparator. During a first cycle, the first controller generates control signals to the machine while the second controller generates predicted parameter signals. During the first cycle, the comparator transmits a feedback signal to the second controller if the predetermined threshold is not met. A method for controlling a machine includes transmitting control signals from a first controller to the machine and generating predicted parameter values in a second controller. The method further includes transmitting a feedback signal to the second controller if the predetermined threshold is not met.

Description

System and method for controlling a machine

technical field

The present invention generally relates to control systems of machines. In particular, the present invention describes a controller that can be used with a machine, such as a generator or motor, and that enables it to adjust the operation of the machine according to desired parameters.

Background technique

Machines such as motors and generators typically include control systems for adjusting various parameters in the machine. For example, a motor may include a controller that adjusts the torque or speed of the motor to prevent the motor from overheating. Similarly, a generator may include a controller that regulates the current or voltage produced by the generator.

Various circuits and methods are known in the art for controlling machines. For example, a control system may operate substantially according to trial and error by issuing a control signal to alter the operation of the machine and then varying the magnitude of the control signal based on the machine's response to the control signal. For example, a controller attempting to boost the generator's output voltage may issue an initial control signal and then adjust the initial control signal in accordance with the resulting change in the generator's output voltage. Although simple in its methodology, this trial and error approach typically requires more time to reach the desired operating level of the machine, and it can lead to overhunting until the machine stabilizes at the desired operating level.

To avoid the disadvantages of trial and error, some control systems may include programming modules or circuits that simulate the operation of the machine. The control system accesses the programmed modules or circuits to generate appropriate control signals that efficiently and precisely alter machine operation to produce desired parameter values. In some cases, the programming modules or circuits may be common to an entire class of machines, while in other cases, the programming modules or circuits may be specific to each type of machine or more specifically to each type of machine within a class of machines. Individual machine specific modifications.

The ability of a control system to accurately and efficiently adjust a machine is directly dependent on the ability of the programmed modules or circuits to accurately simulate the operation of a particular machine. For example, in the field of wind turbine generators, many different generator designs exist for allowing optimal generation of electrical power under varying environmental conditions. Many differences (eg, rotor blade length, balance, and pitch) exist between various generator designs and even between individual generators of each design. Additionally, variables unique to each installation (eg, wind speed, barometric pressure, and humidity) can be changed over time or between seasons to vary the performance of individual generators. Finally, changes in the generator (eg, friction, corrosion, balance changes) during the lifetime of the generator can alter the operating characteristics of the generator.

There is therefore a need for improved control systems for machines. Ideally, the improved control system would include a model of the operating characteristics of the machine that could be updated or adjusted to reflect the actual performance of the machine over time.

Contents of the invention

Aspects and advantages of the invention will be set forth in the following description, or may be obvious from the description, or may be learned by practice of the invention.

In one embodiment of the invention, a system for controlling a machine includes an input signal, a first parameter signal, and a first controller. The input signal conveys a desired operating parameter of the machine, and the first parameter signal conveys a measured parameter of the machine acquired at a first time. During a first cycle, the first controller receives the input signal and the first parameter signal and generates control signals to the machine based on the input signal and the first parameter signal. The system further includes a second controller, a second parameter signal, a feedback circuit, and a comparator. During a first cycle, the second controller receives the first parameter signal and the control signal and generates a predicted parameter signal based on the first parameter signal and the control signal. The second parameter signal conveys a measured parameter of the machine acquired at a second time, and the feedback circuit receives the second parameter signal and the predicted parameter signal and generates a feedback signal based on the second parameter signal and the predicted parameter signal. During a first cycle, the comparator receives the feedback signal and transmits the feedback signal to the second controller if a predetermined threshold is not met.

Another embodiment of the invention is a system for controlling a machine comprising an input signal, a first parameter signal, a controller and a first model. The input signal conveys a desired operating parameter of the machine, and the first parameter signal conveys a measured parameter of the machine acquired at a first time. The controller receives the input signal and the first parameter signal and generates a request signal based on the input signal and the first parameter signal. During a first cycle, the first model receives the request signal and generates a response signal based on the request signal, and the controller receives the response signal and generates a control signal to the machine based on the response signal. The system further includes a second model, a second parameter signal, a feedback circuit and a comparator. During a first cycle, the second model receives the first parameter signal and the control signal and generates a predicted parameter signal based on the first parameter signal and the control signal. The second parameter signal conveys a measured parameter of the machine acquired at a second time, and the feedback circuit receives the second parameter signal and the predicted parameter signal and generates a feedback signal based on the second parameter signal and the predicted parameter signal. During a first cycle, the comparator receives the feedback signal and transmits the feedback signal to the second model if a predetermined threshold is not met.

Another embodiment of the invention includes a method for controlling a machine. The method includes measuring a parameter at a first time to determine a first parameter value and comparing the first parameter value to an expected value. In a first loop, the method includes transmitting a control signal from the first controller to the machine to vary the first parameter value and measuring the parameter at a second time to determine the second parameter value. In a first loop, the method further includes generating, in a second controller, a predicted parameter value based on the first parameter value and the control signal and comparing the predicted parameter value with the second parameter value. The method also includes generating a feedback signal based on the predicted parameter value and the second parameter value, and transmitting the feedback signal to the second controller if a predetermined threshold is not met during the first cycle.

A still further embodiment of the invention is a system for controlling a machine comprising an input signal, a first parameter signal, a first model and a controller. The input signal conveys a desired operating parameter of the machine, and the first parameter signal conveys a measured parameter of the machine acquired at a first time. During a first cycle, the first model receives the input signal and the first parameter signal and generates a response signal based on the input signal and the first parameter signal. The controller receives the response signal and generates control signals to the machine based on the response signal. The system further includes a second model, a second parameter signal, a feedback circuit and a comparator. During a first cycle, the second model receives the first parameter signal and the control signal and generates a predicted parameter signal based on the first parameter signal and the control signal. The second parameter signal conveys a measured parameter of the machine acquired at a second time, and the feedback circuit receives the second parameter signal and the predicted parameter signal and generates a feedback signal based on the second parameter signal and the predicted parameter signal. During a first cycle, the comparator receives the feedback signal and transmits the feedback signal to the second model if a predetermined threshold is not met.

Those skilled in the art will better appreciate the features and aspects of such embodiments, among others, when reviewing this specification.

Description of drawings

A full and enabling disclosure of the invention, including the best mode thereof, to those skilled in the art is set forth more particularly in the remainder of the specification, and with reference to the accompanying drawings, in which:

Figure 1 shows a simplified block diagram of a control system according to one embodiment of the invention;

Figure 2 shows a simplified block diagram of the control system shown in Figure 1 after a predetermined threshold is met;

Figure 3 shows a simplified block diagram of a control system according to a second embodiment of the invention;

Figure 4 shows a simplified block diagram of the control system shown in Figure 3 after a predetermined threshold is met;

Figure 5 shows a simplified block diagram of a control system according to a third embodiment of the invention; and

Figure 6 shows a simplified block diagram of the control system shown in Figure 5 after a predetermined threshold is met.

Detailed ways

Reference will now be made in detail to present embodiments of the invention, one or more examples of which are illustrated in the accompanying drawings. The detailed description uses numerical and letter designations to refer to features in the drawings. Like or like references in the drawings and description have been used to refer to like or like parts of the invention.

Each example is provided by way of explanation of the invention, not limitation of the invention. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present invention without departing from the scope or spirit of the invention. For example, features illustrated or described as part of one embodiment can be used on another embodiment to yield still a further embodiment. Thus, it is intended that the present invention covers such modifications and variations as come within the scope of the appended claims and their equivalents.

1 and 2 show a simplified block diagram of a control system 10 according to one embodiment of the present invention. Figure 1 shows the communication lines in system 10 during a first cycle, and Figure 2 shows the communication lines in system 10 during a second or subsequent cycle after a predetermined threshold has been met. Solid lines in each figure represent active communication lines, while dashed lines in each figure represent inactive communication lines. Although this embodiment is illustrated and described in the context of a wind turbine generator 12, those skilled in the art will understand that the concepts, structures and methods described in this application will be equally applicable to any generator, motor or other machine.

As shown in FIG. 1 , system 10 includes an input device 14 , a first controller 16 and a second controller 18 . The input device 14 may comprise any structure for providing an interface between a user and the system 10 . For example, the input device 14 may include a keyboard, computer, terminal, tape drive, and/or any other device for receiving input from a user and providing that input to the system 10 . The input device 14 generates an input signal 20 conveying desired operating parameters of the wind turbine generator 12 . The operating parameter may be any measurable parameter generated by wind turbine generator 12, such as voltage, current, power, or torque.

The first 16 and second 18 controllers may include various components such as a memory/media element 22 and/or a co-processor 24 that store data, store software instructions, and/or execute subroutines called by the respective controllers. The various memory/media elements can be one or more variants of computer-readable media such as, but not limited to, volatile memory (e.g., RAM, DRAM, SRAM, etc.), non-volatile memory (e.g., flash drive, hard drive , magnetic tape, CD-ROM, DVD-ROM, etc.) and/or other storage devices (eg, floppy disks, magnetic-based storage media, optical storage media, etc.) A respective controller can access data and/or software instructions stored in an associated memory/media element. Any possible variations in data storage and processor configuration will be appreciated by those skilled in the art.

System 10 operates on a cyclic basis. During the first cycle, the first controller 16 adjusts the operation of the wind turbine generator 12 and the second controller 18 receives feedback signals to refine its ability to accurately predict the operation of the wind turbine generator 12 . When the predetermined threshold is met during the first or subsequent cycle, operation of the first 16 and second 18 controllers switches so that the second controller 18 adjusts the wind turbine 12 while the first controller 16 receives the feedback signal.

For example, during a first cycle shown in FIG. 1 , first controller 16 receives input signal 20 from input device 14 and first parameter signal 26 from wind turbine generator 12 . The first parameter signal 26 conveys a measured parameter of the wind turbine generator 12 , such as a voltage or a current, etc., acquired at a first time. First controller 16 may access memory/media element 22 or co-processor 24 (as previously described) to generate control signal 28 to wind turbine generator 12 based on input signal 20 and first parameter signal 26 . The control signal 28 conveys information or instructions to the wind turbine generator 12 to change the operation of the wind turbine generator 12 and thereby change measured parameter values. For example, input signal 20 may convey a desired output voltage of 400 volts, and first parameter signal 26 may indicate an output voltage from wind turbine generator 12 of 398 volts. Using data and/or instructions stored in memory/media element 22 and/or co-processor 24 , first controller 16 may generate control signals 28 to wind turbine generator 12 that change the excitation field of wind turbine generator 12 to increase the output voltage from 398 volts to 400 volts.

Substantially simultaneously during the first cycle, second controller 18 receives first parameter signal 26 from wind turbine generator 12 and control signal 28 from first controller 16 . The second controller 18 may access the memory/media element 22 or the co-processor 24 (as previously described) to generate the predicted parameter signal 30 based on the first parameter signal 26 and the control signal 28 . The predicted parameter signal 30 conveys the expected response of the wind turbine generator 12 to the control signal 28 . For example, if first parameter signal 26 communicates an output voltage of 398 volts, and control signal 28 increases the excitation field by 2 millivolts, second controller 18 may predict that wind turbine generator 12 will produce a new output voltage of 399 volts in response to control signal 28 . Output voltage (ie, predicted parameter signal 30).

The system 10 shown in Figures 1 and 2 further includes a delay circuit 32, a feedback circuit 34 and a comparator 36 to provide feedback to the first 16 or second 18 controller. The delay circuit 32, feedback circuit 34, and comparator 36 may be located in the first 16 and/or second 18 controller and utilize processing power and/or memory/ medium element. Alternatively, the delay circuit 32, the feedback circuit 34 and/or the comparator 36 may be implemented by hardware logic or other circuits including but not limited to dedicated circuits.

The delay circuit 32 receives the first parameter signal 26 and indexes the first parameter signal 26 to the time when the first parameter was measured. Delay circuit 32 generates second parameter signal 38 indexed to a second time and corresponding to the measured parameter after wind turbine generator 12 has received and acted upon control signal 28 .

Feedback circuit 34 receives second parameter signal 38 from delay circuit 32 and predicted parameter signal 30 from second controller 18 . Feedback circuit 34 compares second parameter signal 38 with predicted parameter signal 30 and generates feedback signal 40 . The comparator 40 receives the feedback signal 40 and transmits the feedback signal 40 to the second controller 16 if the predetermined threshold is not met. The predetermined threshold may be a time interval, an acceptable magnitude of the feedback signal 40 , or any other metric indicative of the ability of the second controller 18 to accurately predict the response of the wind turbine generator 12 to the control signal 28 . As such, if the predetermined threshold is not met during the first cycle, the comparator 36 transmits a feedback signal 40 to the second controller 18, and the second controller 18 may then use the feedback signal 40 to update stored data or program modules to refine The ability of second controller 18 to accurately predict the response of wind turbine generator 12 to control signal 28 is improved.

If the predetermined threshold is met during the first cycle, the comparator 36 sends a signal 42 to the switch 44 to alter the operation of the first 16 and second 18 controllers for a second or subsequent cycle, as shown in FIG. 2 . During a second or subsequent cycle, second controller 18 receives input signal 20 and first parameter signal 26 and generates control signal 28 to wind turbine generator 12 based on input signal 20 and first parameter signal 26 . Similarly, during a second or subsequent cycle, the first controller 16 receives the first parameter signal 26 and the control signal 28 (now from the second controller 18) and generates a predicted parameter based on the first parameter signal 26 and the control signal 28 Signal 30. During the second cycle, the comparator 36 transmits a feedback signal 38 to the first controller 16 if the predetermined threshold is not met.

During operation, the system 10 uses one of the first 16 or second 18 controllers to adjust the wind turbine generator 12, while the other of the second 18 or first 16 controllers receives feedback signals to refine the controller accuracy. The ability to predict the response of the wind turbine generator to the control signal 28 . For example, during a first cycle, first controller 16 receives input signal 20 and first parameter signal 26 and generates control signal 28 to wind turbine generator 12 to change the first parameter to be equal to input signal 20 . Substantially simultaneously, second controller 18 receives first parameter signal 26 and control signal 28 from first controller 16 and generates a prediction that estimates the response of wind turbine generator 12 to control signal 28 from first controller 16 parameter signal 30. Delay circuit 32 generates second parameter signal 38 indexed to the output of wind turbine generator 12 after wind turbine generator 12 responds to control signal 28 . Feedback circuit 34 compares predicted parameter signal 30 with second parameter signal 38, and comparator 36 transmits if a predetermined threshold (such as a time interval or maximum difference between predicted parameter signal 30 and second parameter signal 38) is not satisfied A feedback signal 40 is returned to the second controller 18 . The feedback signal 40 then updates the data and/or programmed modules stored in the second controller 18 to refine or improve the second controller 18's accurate prediction of the wind turbine generator 12's response to the control signal 28 (i.e., reduce the predicted The ability to differ between the parameter signal 30 and the second parameter signal 38). The system 10 continues to operate in subsequent cycles in which the first controller 16 adjusts the wind turbine generator 12 and the second controller 18 receives additional feedback signals 40 until the predetermined threshold is met.

When the predetermined threshold is met, the comparator 36 sends a signal 42 to switch operation of the first 16 and second 18 controllers during a subsequent cycle, as shown in FIG. 2 . During a second or subsequent cycle, the second controller 18 now receives the input signal 20 from the input device 14 and the first parameter signal 26 from the wind turbine generator 12 and generates a control signal 28 to the wind turbine generator 12 . During a second or subsequent cycle, first controller 16 receives first parameter signal 26 from wind turbine generator 12 and control signal 28 from second controller 18 and generates predicted parameter signal 30 . Delay circuit 32 generates second parameter signal 38 , as previously discussed, and feedback circuit 34 compares second parameter signal 38 with predicted parameter signal 30 from first controller 16 to generate feedback signal 40 . During this second or subsequent cycle, the comparator 36 sends a feedback signal 40 back to the first controller 16 if the predetermined threshold is not met. As such, during the second or subsequent cycle, second controller 18 adjusts operation of wind turbine 12 while first controller 16 receives feedback signal 40 to refine or improve first controller 16's accurate prediction of wind turbine generator 12 control Ability to respond to signal 38. When the predetermined threshold is met during the second or subsequent cycle, comparator 36 sends signal 42 to switch 44 and the communication line switches back to the configuration as shown in FIG. 1 and the process repeats.

3 and 4 illustrate a system 50 for controlling a machine 52 according to an alternative embodiment of the invention. The system 50 also includes an input device 54 as previously discussed. Additionally, the system 50 includes a controller 56 , a first model 58 and a second model 60 . The controller 56, first model 58 and second model 60 may include processors and/or memory/media elements as previously discussed with respect to the first 16 and second 18 controllers described and illustrated in FIGS. 1 and 2 of.

In the embodiment shown in FIGS. 3 and 4 , the controller 56 receives an input signal 62 from the input device 54 and a first parameter signal 64 from the machine 52 . The first parameter signal 64 conveys a measured parameter of the machine 52 , such as voltage or current, etc., acquired at the first time. The controller 56 generates a request signal 66 that seeks the information needed to generate a control signal 68 that will change the first parameter signal 64 to be equal to the input signal 62 . For example, if input signal 62 conveys a desired speed of 500 rpm, and first parameter signal 64 conveys a measured speed of 450 rpm, request signal 66 seeks information that can be used to generate control signal 68 to change the actual speed from 450 rpm to 500 rpm.

During a first cycle, the first model 58 receives a request signal 66 from the controller 56 and accesses stored data and/or instructions to generate a response signal 70 . This response signal 70 conveys information to controller 56 so that controller 56 may generate control signal 68 to alter the output of machine 52 to match the desired operating parameters conveyed by input signal 62 .

Substantially simultaneously during the first cycle, the second model 60 receives a first parameter signal 64 from the machine 52 and a control signal 68 from the controller 56 . The second model 60 accesses stored data and/or instructions to generate a predicted parameter signal 72 that estimates the response of the machine 52 to the control signal 68 .

System 50 includes delay circuit 74 , feedback circuit 76 and comparator 78 as previously discussed with respect to the embodiment illustrated in FIGS. 1 and 2 . The delay circuit 74 generates a second parameter signal 80 indexed to a second time and corresponding to a parameter measured after the machine 52 has received and acted on the control signal 68 . The feedback circuit 76 compares the second parameter signal 80 with the predicted parameter signal 72 and generates a feedback signal 82 . The comparator 78 transmits the feedback signal 82 to the second controller 60 if the predetermined threshold is not met. The system 50 continues to operate in subsequent cycles in which the first model 58 provides a response signal 70 to the controller 56 and the second model 60 provides a predicted parameter signal 72 to a feedback circuit 76 until a predetermined threshold is met. When the predetermined threshold is met, the comparator 78 sends a signal 80 to the switch 82 to change the communication lines between the components of the system 50 as shown in FIG. 4 .

As shown in FIG. 4 , during a second or subsequent cycle, the second model 60 receives a request signal 66 from the controller 56 and generates a response signal 70 based on the request signal 66 . During a second or subsequent cycle, the first model 58 receives the first parameter signal 64 from the machine 52 and the control signal 68 from the controller 56 and generates a predicted parameter signal 72 . During this second or subsequent cycle, the comparator 78 sends a feedback signal 82 to the first model 58 if the predetermined threshold is not met. As such, during a second or subsequent cycle, controller 56 adjusts operating parameters of machine 52 based on information provided by second model 60, while first model 58 receives feedback signals 82 to refine or improve first model 58's accurate prediction of machine Ability to respond to control signal 68. As previously discussed with respect to the embodiment illustrated in FIGS. 1 and 2 , the predetermined threshold may be a time interval, magnitude of the feedback signal, or other measure indicative of the ability of the first model 58 to accurately predict the machine's response to the control signal 68 .

5 and 6 illustrate another embodiment of a system 90 for controlling a machine 92 . The system 90 also includes an input device 94 , a controller 96 , a first model 98 and a second model 100 as previously discussed with respect to the embodiment shown in FIGS. 3 and 4 . In the embodiment shown in FIGS. 5 and 6 , the first model 98 receives an input signal 102 from the input device 94 and a first parameter signal 104 from the machine 92 . First model 98 accesses stored data and/or instructions to generate response signal 106 based on input signal 102 and first parameter signal 104 . For example, if the input signal 102 conveys a desired speed of 100 rpm, and the first parameter signal conveys a measured speed of 110 rpm, the first model 98 generates a response signal 106 to the controller 96, which includes generating appropriate control signals 108 for the controller 96 to Information necessary to change the operating speed of the machine from 110rpm to 100rpm.

Substantially simultaneously during the first cycle, the second model 100 receives a first parameter signal 104 from the machine and a control signal 108 from the controller 96 . The second model 100 accesses stored data and/or instructions to generate a predicted parameter signal 112 representing the second model's 100 estimate of the response of the machine 92 to the control signal 108 .

The system also includes a delay circuit 114, a feedback circuit 116, and a comparator 118, as previously described with respect to the embodiments shown in FIGS. 1-4. The delay circuit 114 generates a second parameter signal 120 indexed to a second time and corresponding to a parameter measured after the machine 92 has received and acted on the control signal 108 . The feedback circuit 116 compares the second parameter signal 120 with the predicted parameter signal 112 and generates a feedback signal 122 . The comparator 118 transmits the feedback signal 122 to the second controller 100 if the predetermined threshold is not met. The feedback signal 122 refines the data and/or instructions stored in the second model 100 to allow the second model 100 to more accurately predict the response of the machine 92 to the control signal 108 . The system 90 continues to operate in subsequent cycles in which the first model 98 provides the response signal 106 to the controller 96 and the second model 100 provides the predicted parameter signal 112 to the feedback circuit 116 until the predetermined threshold is met. When the predetermined threshold is met, the comparator 118 sends a signal 124 to the switch 126 to change the communication lines between the components of the system 90 as shown in FIG. 6 .

As shown in FIG. 6 , during a second or subsequent cycle, the second model 100 receives an input signal 102 from the input device 94 and a first parameter signal 104 from the machine 92 . The second model 100 accesses stored data and/or instructions to generate a response signal 106 based on the input signal 102 and the first parameter signal 104 . During a second or subsequent cycle, first model 98 receives first parameter signal 104 from machine 92 and control signal 108 from controller 96 . The first model 98 accesses stored data and/or instructions to predict the response of the machine 92 to the control signal 108 and generate a predicted parameter signal 112 . As such, controller 96 adjusts operating parameters of machine 92 based on information provided by second model 100 , while first model 98 receives feedback signal 122 to improve the ability of first model 98 to accurately predict the machine's response to control signal 108 . When the predetermined threshold is met, the comparator 118 transmits a signal 124 to the switch 126 and the communication line between the controller 96, the first model 98 and the second model 100 is changed back to that shown in FIG. 5 .

As previously described, each embodiment of the present invention allows the system to control the operating parameters of a machine while synchronously updating a second or alternate controller or model. In this way, the system can accurately adjust the operating parameters of the machine while simultaneously updating the second controller or model to reflect changes in the machine's operation. As a result, the system can be switched between a first controller and a second controller or a first model and a second model so that the system can reliably remain updated for changes in the operating characteristics of the machine without requiring any interruption in machine operation.

This written description uses examples to disclose the invention, including the best mode, and also to enable any person skilled in the art to practice the invention, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the invention is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal languages of the claims.

parts list

10 System - Figures 1 and 2 12 wind turbine generator 14 input device 16 The first controller 18 Second controller 20 input signal twenty two Storage/Media Components twenty four co-processor 26 The first parameter signal 28 control signal 30 Predicted parameter signal 32 Delay current 34 Feedback circuit 36 Comparators

38 The second parameter signal 40 Feedback signal 42 Signal 44 switch 50 System - Figures 3 and 4 52 machine 54 input device 56 controller 58 first model 60 Second model 62 input signal 64 The first parameter signal 66 request signal 68 control signal 70 response signal 72 Predicted parameter signal 74 Delay circuit 76 Feedback circuit 78 Comparators 80 The second parameter signal 82 Feedback signal 84 Signal 86 switch 90 System - Figures 5 and 6 92 machine 94 input device 96 Controller 98 first model 100 Second model 102 input signal 104 The first parameter signal 106 response signal 108 control signal 112 Predicted parameter signal 114 Delay circuit 116 Feedback circuit 118 Comparators 120 The second parameter signal 122 Feedback signal 124 Signal 126 switch

Claims (10)

CLAIMS 1. A system (10) for controlling a machine (12), comprising: a. an input signal (20), wherein said input signal (20) conveys a desired operating parameter of said machine (12); b. A first parameter signal (26), wherein said first parameter signal (26) conveys a measured parameter of said machine (12) acquired at a first time; c. A first controller (16), wherein during a first cycle, the first controller (16) receives the input signal (20) and the first parameter signal (26) and based on the input signal (20) and said first parameter signal (26) generate a control signal (28) to said machine (12); d. A second controller (18), wherein during said first cycle, said second controller (18) receives said first parameter signal (26) and said control signal (28) and based on said the first parameter signal (26) and said control signal (28) generate a predicted parameter signal (30); e. A second parameter signal (38), wherein said second parameter signal (38) conveys a measured parameter of said machine (12) acquired at a second time; f. Feedback circuit (34), wherein said feedback circuit (34) receives said second parameter signal (38) and said predicted parameter signal (30) and based on said second parameter signal (38) and said the predicted parameter signal (30) generates a feedback signal (40); and g. A comparator (36), wherein during a first cycle, said comparator (36) receives said feedback signal (40) and transmits a feedback signal (40) to said second controller if a predetermined threshold is not met (18). 2. The system (10) of claim 1, wherein said comparator (36) switches said first controller (16) and said A second controller (18) such that during the second cycle: a. The second controller (18) receives the input signal (20) and the first parameter signal (26) and based on the input signal (20) and the first parameter signal (26) generates the said control signal (28) to said machine (12); b. The first controller (16) receives the first parameter signal (26) and the control signal (28) and generates a prediction based on the first parameter signal (26) and the control signal (28) The parameter signal (30); and c. The comparator (36) transmits the feedback signal (40) to the first controller (16) if the predetermined threshold is not met. 3. The system (10) of claim 1, wherein at least one of said first controller (16) or said second controller (18) includes a device for generating said predicted parameter signal (30) Programmatic modules. 4. The system (10) of claim 3, wherein the feedback signal (40) modifies a programmed module that generates the predicted parameter signal (30). 5. The system (10) of claim 1, wherein the predetermined threshold is a time interval. 6. The system (10) of claim 1, wherein the predetermined threshold is an acceptable magnitude of the feedback signal (40). 7. A method for controlling a machine (12), comprising: a. measuring a parameter at a first time to determine a first parameter value; b. comparing the first parameter value with an expected value; c. in a first cycle, transmitting a control signal (28) from a first controller (16) to said machine (12) to vary said first parameter value; d. measuring said parameter at a second time to determine a second parameter value; e. in said first cycle, generating a predicted parameter value in a second controller (18) based on said first parameter value and said control signal (28); f. comparing said predicted parameter value with said second parameter value; g. generating a feedback signal (40) based on said predicted parameter value and said second parameter value; and h. In said first cycle, transmitting said feedback signal (40) to said second controller (18) if a predetermined threshold is not met. 8. The method of claim 7, further comprising modifying the second controller (18) based on the feedback signal (40). 9. The method of claim 7, further comprising switching the first controller (16) and the second controller (18) if the predetermined threshold is met during the first cycle, and Further include during the second loop: a. transmitting a control signal (28) from said second controller (18) to said machine (12); b. generating a predicted parameter value in said first controller (16) based on said first parameter value and said control signal (28); and c. Transmitting said feedback signal (40) to said first controller (16) if said predetermined threshold is not met. 10. The method of claim 9, further comprising modifying the first controller (16) based on the feedback signal (40).

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